Denso RC5 Specifikace stáhnout pdf (Strana 679)

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Chapter 22 Appendices

22-27

(Note) The TRANS command is a coordinate system movement command which uses the tool

coordinate system as the reference; however, the posture rotation method is different

from the tool coordinate system movement command for Type P variable and a Type T

variable as follows.

Posture rotation method of the coordinate system

Js = (X, Y, Z, Rx, Ry, Rz)

Pn = TRANS (Pm, Js)

From the posture at the reference position Pm, it rotates by Rx

(degrees) around the X axis (normal vector) of the tool

coordinate system, and rotates by Ry (degrees) around the Y

axis of the rotated tool axis. It also rotates by Rz (degrees)

around the Z axis of the rotated tool coordinate system.

Pn=Pm + (X, Y, Z, Rx, Ry, Rz)

From the posture at the reference position Pm, it rotates by Rx

(degrees) around the X axis (normal vector) of the tool

coordinate system, and rotates by Ry (degree) around the Y

axis of the tool axis before rotation. It also rotates by Rz

(degrees) around the Z axis of the tool coordinate system prior

to rotation.

For posture rotation similar to the TRANS command of conventional language, designate as

follows.

(1) If Type P variables are used

Pn = Pm + (X, Y, Z, 0, 0, 0) H

Pn = Pn + (0, 0, 0, Rx, 0, 0) H

Pn = Pn + (0, 0, 0, 0, Ry, 0) H

Pn = Pn + (0, 0, 0, 0, 0, Rz) H

(2) If Type T variables are used

DEFTRN LT

DEFPOS LP

LP = (X, Y, Z, 0, 0, 0)

LT = P2T (LP)

Tn = Tm*LT

LP = (0, 0, 0, Rx, 0, 0)

LT = P2T (LP)

Tn = Tn*LT

LP = (0, 0, 0, 0, Ry, 0)

LT = P2T (LP)

Tn = Tn*LT

LP = (0, 0, 0, 0, 0, Rz)

LT = P2T (LP)

Tn = Tn*LT

LETF Tn = FIG (Tm)

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